'------------------------------------------------------
'  Name     : motor-test.bas                        
'  Compiler : PicBasic Pro - MicroEngineering Labs
'  Notes    : Program to test the leg motors
'------------------------------------------------------

' PortA set as outputs. pins 0 and 1 inputs
trisa = %00000011

' PortB set as outputs. pin 1 input.   
trisb = %00000001   

'------------------------------------------------------
' initialize variables

include "modedefs.bas"

enable_right     VAR PORTB.1
forward_right    VAR PORTB.2
reverse_right    VAR PORTB.3
enable_left      VAR PORTB.4
reverse_left     VAR PORTB.5
forward_left     VAR PORTB.6
limit_left       VAR PORTA.0
limit_right      VAR PORTA.1
piezo            VAR PORTA.3

low enable_left
low forward_left
low reverse_left

low enable_right
low forward_right
low reverse_right


SOUND PIEZO,[115,10,50,10]

start:

high enable_left
high forward_left
pause 3000
low enable_left
low forward_left

high enable_right
high forward_right
pause 3000
low enable_right
low forward_right

goto start

end